Tote handling systems and methods

ABSTRACT

An example system includes a first tote handling assembly having a wiper bar, a first plurality of actuators connected to and moveable with the first wiper bar, and a first tab associated with a first actuator of the first plurality of actuators. The system may also includes a second tote handling assembly disposed substantially adjacent and substantially parallel to the first tote handling assembly. The second tote handling assembly includes a second wiper bar, a second plurality of actuators connected to and moveable with the second wiper bar, and a second tab associated with a second actuator of the second plurality of actuators. In such a system, movement of the first wiper bar in a first direction along a transverse axis of the first tote handling assembly, while the first tab is engaged with a tote disposed on the first tote handling assembly, transfers the tote from the first tote handling assembly to the second tote handling assembly.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of prior U.S. patent application Ser.No. 15/256,303, filed Sep. 2, 2016, the entire disclosure of which isincorporated herein by reference.

BACKGROUND

Various systems, such as pick-to-order systems, may be used to fulfillcomplex orders in inventory storage, warehouse, shipping, or otherenvironments. In such systems, pods or other containers may includeitems required to fulfill one or more orders in an order queue, and maybe manually or automatically directed to an operator station. In suchsystems, a respective tote corresponding to each order in the orderqueue may also be directed to the operator station. Once the proper podsand totes arrive, an operator at the operator station may remove itemsfrom the various pods, and may place a required number of items in therespective totes based on the quantities specified in each order. Inorder to maximize efficiency at such operator stations, and to minimizethe amount of time and effort required for the operator to transfer therequired items from the pods to the respective totes, it is typicallydesirable to synchronize the arrival timing and sequencing of totes atthe operator station with the arrival of the various pods.

Although tote handling systems have been developed to facilitate themovement of totes to and from operator stations, and to control thearrival timing and sequencing of such totes, existing systems can bequite expensive due to the number and complexity of components (e.g.,right-angle pop-up wheels, motors, etc.) required to provide suchfunctionality. Additionally, due to the number and nature of suchcomponents, existing tote handling systems can be time-consuming tomanufacture, and are often difficult to operate in order fulfillmentenvironments.

BRIEF DESCRIPTION OF THE DRAWINGS

This detailed description makes reference to the accompanying figures.In the figures, the left-most digit(s) of a reference number identifiesthe figure in which the reference number first appears. The samereference numbers in different figures indicate similar or identicalitems.

FIG. 1 is a top perspective view of an example system of the presentdisclosure.

FIG. 2 is a bottom perspective view of an example tote handling assemblyand other example components of the system shown in FIG. 1.

FIG. 3 is a top perspective view of the example tote handling assemblyshown in FIG. 2.

FIG. 4 is a bottom perspective view of another example tote handlingassembly of the present disclosure.

DETAILED DESCRIPTION

Described herein are systems, apparatuses, and methods related tocontrolling the arrival timing, sequencing, and other movementparameters of totes within an order-fulfillment environment. The examplesystems of the present disclosure may be configured to direct aplurality of totes to an operator station in any desired sequence and atany desired time. As a result, operators at the operator station mayfulfill orders with increased efficiency. Additionally, the examplesystems of the present disclosure may employ a unique arrangement ofcomponents relative to known tote handling systems. The componentsincluded in the example systems of the present disclosure may reduce thecost and complexity of such systems as compared to known systems, andmay, thus, improve system reliability.

The example systems of the present disclosure may include one or moretote handling assemblies. In some examples, such systems may include afirst tote handling assembly and a second tote handling assembly locatedsubstantially adjacent to and substantially parallel to the first totehandling assembly. In such examples, the first tote handling assemblymay be substantially similar to and/or the same as the second totehandling assembly, and may include substantially the same components asthe second tote handling assembly. Such components may be configured totransfer totes from the first tote handling assembly to the second totehandling assembly, and vice versa. Such components may also be able tomove totes along an axis of the tote handling assembly, or in adirection that is substantially parallel to an axis of the tote handlingassembly, toward the operator station.

For instance, a tote handling assembly of the present disclosure mayinclude a wiper bar, and one or more actuators coupled to and moveablewith the wiper bar. In such examples, the tote handling assembly maydefine a longitudinal axis and a transverse axis perpendicular to thelongitudinal axis. For example, the tote handling assembly may include aframe, and the longitudinal and transverse axes may be longitudinal andtransverse axes of the frame. In such embodiments, the wiper bar mayextend along substantially an entire length of the frame, and may extendsubstantially parallel to the longitudinal axis of the tote handlingassembly. Additionally, the wiper bar may be moveable along thetransverse axis of the tote handling assembly, or in a direction that issubstantially parallel to the transverse axis, relative to the frame. Insome examples, the tote handling assembly may include one or moremotors, linkages, and/or other components operably connected to thewiper bar and configured to move the wiper bar to any desired locationalong the transverse axis.

Each of the actuators noted above may be coupled to the wiper bar, and arespective tab may be connected to each actuator. In such examples, eachactuator may be configured to move the corresponding tab in a verticaldirection substantially perpendicular to a plane that includes thelongitudinal axis and the transverse axis of the respective totehandling assembly. Such a plane may be, for example, defined by theframe of the tote handling assembly. In such examples, each tab maycomprise one or more prongs, fingers, or other components configured toengage a side, bottom, or other portion of a tote disposed on the totehandling assembly.

The tote handling assembly may also include a plurality of substantiallycylindrical rollers extending substantially parallel to the transverseaxis. The rollers may support the various totes that are disposed on thetote handling assembly, and the wiper bar and actuators may be disposedbeneath the rollers. In such examples, each roller of the plurality ofrollers may be rotatable in a clockwise direction and a counterclockwisedirection relative to the frame. For example, at least one of therollers may be a motor-driven roller controllable to rotate in theclockwise and counterclockwise directions. Additionally, a first rollermay be disposed substantially adjacent to a second roller, and may bespaced from the first roller by a gap. In such examples, a tab connectedto an actuator may extend at least partly into the gap while the tab isengaged with the tote. When the tab is engaged with the tote in thisway, movement of the wiper bar in a first direction that is along thetransverse axis, or that is substantially parallel to the transverseaxis, may result in commensurate movement of the tote in the samedirection as the wiper bar. In particular, in examples in which thesystem includes first and second tote handling assemblies as describedabove, movement of the wiper bar in a first direction that is along thetransverse axis, or that is substantially parallel to the transverseaxis, may move the tote in the first direction, and may transfer thetote from the first tote handling assembly to the second tote handlingassembly.

Further, in examples in which the second tote handling assembly issubstantially similar to and/or the same as the first tote handlingassembly, such as examples in which the second tote handling assemblyincludes a wiper bar, one or more actuators fixedly connected to thewiper bar, a respective tab connected to each of the one or moreactuators, and/or a plurality of rollers, such components of the secondtote handling assembly may be configured to move the tote in a directionthat is along a transverse axis of the second tote handling assembly, orthat is or substantially parallel to such a transverse axis. Inparticular, the second tote handling assembly may be configured suchthat movement of the wiper bar of the second tote handling assembly in adirection that is along, or that is substantially parallel to, thetransverse axis of the second tote handling assembly, while a tab of thesecond tote handling assembly is engaged with the tote, may causecommensurate movement of the tote. In some examples, movement of thewiper bar of the second tote handling assembly, while the tab of thesecond tote handling assembly is engaged with a tote, may transfer thetote from the second tote handling assembly to the first tote handlingassembly.

The functionality described above may enable systems of the presentdisclosure employing two or more tote handling assemblies to control thearrival timing, sequencing, and other movement parameters of a pluralityof totes in an order fulfillment environment. Further, due to therelatively low cost and minimized number of wiper bars, actuators,motors, linkages and other components of the tote handling assembliesdescribed herein, the systems of the present disclosure may be lessexpensive and less complex than existing tote handling systems.

Referring now to FIG. 1, a detailed example of a system 100 for movingand/or otherwise handling totes in an order fulfilment environment isillustrated. The example system 100 of FIG. 1 may include, among otherthings, one or more tote handling assemblies 102, 104 configured tosupport a plurality of totes 106 a, 106 b, 106 c, 106 d, . . . 106 n(collectively referred to as “totes 106”). In some examples, firstand/or second tote handling assemblies 102, 104 of the presentdisclosure may include a plurality of rollers 108 or other likecomponents configured to support the totes 106 as the totes 106 aremoved on or along the tote handling assemblies 102, 104. Such rollers108 may also support the totes 106 as the totes 106 are transferred fromthe first tote handling assembly 102 to the second tote handlingassembly 104, from the second tote handling assembly 104 to the firsttote handling assembly 102, and so on. As will be described in greaterdetail below, in some examples one or more of the rollers 108 may bepowered, motor-driven, and/or otherwise controllable to move one or moreof the totes 106 in a desired direction on or along the tote handlingassemblies 102, 104.

The system 100 may also include one or more operator stations 110disposed proximate and/or adjacent to at least part of one or more ofthe tote handling assemblies 102, 104. For example, the first and secondtote handling assemblies 102, 104 may each include a first end 112, anda second end 114 opposite the first end 112. In such examples, theoperator station 110 may be disposed proximate and/or adjacent to thefirst end 112 of at least one of the first tote handling assembly 102 orthe second tote handling assembly 104. Alternatively, the operatorstation 110 may be disposed proximate and/or adjacent to the second end114 of at least one of the first tote handling assembly 102 or thesecond tote handling assembly 104. In example embodiments in which thesystem 100 includes more than a single tote handling assembly 102, thesystem 100 may be configured to facilitate movement of a plurality oftotes 106 between the tote handling assemblies 102, 104 in order todirect the individual totes 106 to the operator station 110 in a desiredsequence and/or at a desired time. For example, respective totes 106 ofthe present disclosure may be directed to the operator station 110 in asequence and/or at a specified time corresponding to the various ordersthat are to be completed at the operator station 110. Each of the totehandling assemblies 102, 104 may include a plurality of componentsconfigured to assist in transferring one or more totes 106 from thefirst tote handling assembly 102 to the second tote handling assembly104, or vice versa such that various respective totes 106 may bedirected to the operator station 110 in such a desired sequence and/orat such a specified time. Such components will be described in greaterdetail below with respect to FIGS. 2-4.

As shown in FIG. 1, the first tote handling assembly 102 may define alongitudinal axis A, and a transverse axis B extending perpendicular tothe longitudinal axis A. Similarly, the second tote handling assembly104 may define a longitudinal axis C and a transverse axis D extendingperpendicular to the longitudinal axis C. In examples in which the firsttote handling assembly 102 is disposed substantially adjacent to, and/orsubstantially parallel to the second tote handling assembly 104, thelongitudinal axis A of the first tote handling assembly 102 may extendsubstantially parallel to the longitudinal axis C of the second totehandling assembly 104. Likewise, in such examples, the transverse axis Bof the first tote handling assembly 102 may extend substantiallyparallel to the transverse axis D of the second tote handling assembly104. Further, in some examples the longitudinal and transverse axes A, Bof the first tote handling assembly 102 may define and/or may otherwisebe included within a single plane associated with the first totehandling assembly 102. In such examples, one or more rollers 108 of thefirst tote handling assembly 102 may be disposed within and/or mayextend substantially parallel to such a plane. For example, each of therollers 108 may extend substantially parallel to the transverse axis Bof the first tote handling assembly 102, and in some examples, each ofthe rollers 108 may extend along, and/or may otherwise be disposedwithin the plane defined by the longitudinal and transverse axes A, B.In such examples, each of the rollers 108 may be coplanar.

Some examples, the rollers 108 may comprise a plurality of motor-drivenrollers, and each of the rollers 108 may be rotatable in the clockwiseand counterclockwise directions. For example, each individual roller 108may be independently controlled to rotate relative to a frame and/orother component of the first tote handling assembly 102. It isunderstood that such rotation in the clockwise or counterclockwisedirection may cause corresponding movement of one or more totes 106supported by the rollers 108 in a direction X that is along orsubstantially parallel to the longitudinal axis A of the first totehandling assembly 102 or in a direction X′ that is along orsubstantially parallel to the longitudinal axis A. In such examples, oneor more of the rollers 108 may include a respective motor, drive,permanent magnet, wire coil, solenoid, servo, or other componentconfigured to impart a rotational force on the roller 108 and/orotherwise cause the roller 108 to rotate in the clockwise orcounterclockwise direction. For example, each motor or other componentmay be independently operable to rotate a corresponding roller 108 ofthe first tote handling assembly 102 in the clockwise direction and inthe counterclockwise direction. Such motors may comprise, for example,any electric motor known in the art. In such examples, one or more ofthe motor-driven rollers 108 may comprise an AC or DC-powered rollermanufactured by Itoh Denki USA, Inc. of Wilkes-Barre, Pa.

In example embodiments, the second tote handling assembly 104 may alsoinclude one or more rollers disposed within and/or extendingsubstantially parallel to a plane defined by the longitudinal axis C andthe transverse axis D of the second tote handling assembly 104. Forexample, each of the rollers of the second tote handling assembly 104may extend substantially parallel to the transverse axis D of the secondtote handling assembly 104. In such examples, each of the rollers of thesecond tote handling assembly 104 may be coplanar, and such rollers maycomprise a plurality of motor-driven rollers rotatable, in the clockwiseand counterclockwise directions. It is understood that, in suchembodiments, the rollers of the second tote handling assembly 104 may besubstantially similar to and/or the same as the rollers 108 describedabove with respect to the first tote handling assembly 102.

As shown in FIG. 1, an example operator station 110 may include, amongother things, a pod handling assembly 116 and/or a controller 118. Anexample pod handling assembly 116 may be disposed proximate and/oradjacent to the first end 112 of at least one of the first tote handlingassembly 102 or the second assembly 104. Alternatively, the pod handlingassembly 116 may be disposed proximate and/or adjacent to the second end114 of at least one of the first tote handling assembly 102 or thesecond tote handling assembly 104. In such examples, the pod handlingassembly 116 may be separate from the first and second tote handlingassemblies 102, 104, and the pod handling assembly 116 may be configuredto direct one or more pods 120 containing at least one inventory item toa location substantially adjacent at least one of the first totehandling assembly 102 or the second tote handling assembly 104. Forexample, as shown in FIG. 1 a pod handling assembly 116 of the presentdisclosure may be configured to direct a pod 120 to a location proximateand/or adjacent to the second end 114 of the second tote handlingassembly 104. In such examples, once a pod 120 is directed to a locationproximate and/or adjacent to the second end 114, inventory items may beremoved from the pod 120 and disposed in one or more totes 106 d, 106 cpositioned proximate the second end 114. In some examples, such totes106 d, 106 c may then be transferred from the second tote handlingassembly 104 to the first total assembly 102, and one or more additionaltotes 106 b, 106 a may be transferred from the first tote handlingassembly 102 to the second tote handling assembly 104 for thefulfillment of further orders.

In example embodiments, the pod handling assembly 116 may besubstantially similar to and/or the same as at least one of the firstand second tote handling assemblies 102, 104. For example, the podhandling assembly 116 may include a plurality of rollers or other likecomponents configured to support the pods 120 as the pods 120 are movedon or along the pod handling assembly 116. The rollers of the podhandling assembly 116 may be substantially similar to and/or the same asthe rollers 108 described above with respect to the first tote handlingassembly 102, and the rollers of the pod handling assembly 116 may havethe same configurations and other characteristics of the rollers 108.For example, the rollers of the pod handling assembly 116 may supportthe pods 120 as the pods 120 are transferred between the pod handlingassembly 116 and one or more additional pod handling assemblies 116 ofother components of the system 100. In some examples, the rollers of thepod handling assembly 116 may comprise a plurality of motor-drivenrollers rotatable in the clockwise and counterclockwise directions. Forexample, each individual roller of the pod handling assembly 116 may beindependently controlled to rotate relative to a frame and/or othercomponent of the pod handling assembly 116. Such rotation in theclockwise or counterclockwise direction may cause corresponding movementof one or more pods 120 supported by the rollers of the pod handlingassembly 116 in a direction Z that is along or substantially parallel toa longitudinal axis E of the pod handling assembly 116 or in a directionZ′ that is along or substantially parallel to the longitudinal axis E.Further, although not illustrated in FIG. 1, the pod handling assembly116 may include a plurality of components configured to assist intransferring one or more pods 120 from the pod handling assembly 116 toan additional pod handling assembly (not shown) or vice versa. Suchcomponents may be substantially similar to and/or the same as thevarious components of, for example, the first tote handling assembly 102that will be described in greater detail below with respect to FIGS.2-4.

The controller 118 disposed at the operator station 110 may comprise anydesktop computer, laptop computers, server computer, tablet computers,cellular phone, personal digital assistant, or other computing deviceconfigured to control operation of at least one aspect or component ofthe system 100. In example systems 100, the controller 118 can includeone or more devices in a diverse variety of device categories, classes,or types, and the controller 118 is not limited to a particular type ofdevice. In some examples, the controller 118 may comprise a cluster ofcomputing devices and/or a cloud service.

The controller 118 may include any components configured to assist incontrolling operation of the tote handling assemblies 102, 104, the podhandling assembly 116, and/or other components of the system 100, aswell as performing any other order fulfilment functions. For example,the controller 118 may include can include one or more processingunit(s) operably connected to one or more computer-readable media (e.g.,memories), such as via a bus. In some instances, such a bus may includeone or more of a system bus, a data bus, an address bus, a PeripheralComponent Interconnect (PCI) Express (PCIe) bus, a PCI bus, a Mini-PCIbus, and any variety of local, peripheral, or independent buses, or anycombination thereof. While the processing units may reside on thecontroller 118, in other examples such processing units can also resideon different computing devices separate from and in communication withthe controller 118.

The computer-readable media described herein with respect to thecontroller 118 may include computer storage media and/or communicationmedia. Computer storage media includes tangible storage units such asvolatile memory, nonvolatile memory, and/or other persistent and/orauxiliary computer storage media, removable and non-removable computerstorage media implemented in any method or technology for storage ofinformation such as computer-readable instructions, data structures,program modules, or other data. Computer storage media includes tangibleor physical forms of media included in a device or hardware componentthat is part of a device or external to a device, including but notlimited to RAM, static RAM (SRAM), dynamic RAM (DRAM), phase changememory (PRAM), read-only memory (ROM), erasable programmable read-onlymemory (EPROM), electrically erasable programmable read-only memory(EEPROM), flash memory, compact disc read-only memory (CD-ROM), digitalversatile disks (DVDs), optical cards or other optical storage media,magnetic cassettes, magnetic tape, magnetic disk storage, magnetic cardsor other magnetic storage devices or media, solid-state memory devices,storage arrays, network attached storage, storage area networks, hostedcomputer storage or memories, storage, devices, and/or storage mediathat can be used to store and maintain information for access by thecontroller 118. In contrast to computer storage media, communicationmedia embodies computer-readable instructions, data structures, programmodules, or other data in a modulated data signal, such as a carrierwave, or other transmission mechanism. As defined herein, computerstorage media does not include communication media. In some examples,computer-readable media associated with the controller 118 can storeinstructions executable by the processing unit(s) of the controller 118to control operation of any of the components of the system 100 and/orto perform any of the other operations described herein. Suchcomputer-readable media can store, for example, computer-executableinstructions, an operating system, and/or other computer programinstructions.

The one or more processing unit(s) associated with the controller 118can be or include one or more single-core processors, multi-coreprocessors, CPUs, GPUs, GPGPUs, or hardware logic components configured,e.g., via specialized programming from modules or APIs, to performfunctions described herein. For example, and without limitation,illustrative types of hardware logic components that can be used in oras processing units include Field-programmable Gate Arrays (FPGAs),Application-specific Integrated Circuits (ASICs), Application-specificStandard Products (ASSPs), System-on-a-chip systems (SOCs), ComplexProgrammable Logic Devices (CPLDs), Digital Signal Processors (DSPs),and other types of customizable processors. For example, a processingunit 114 can be a hybrid device, such as a device from ALTERA or XILINXthat includes a CPU core embedded in an FPGA fabric.

In some examples, controller 118 can also include one or more userinterface(s) 122 configured to permit an operator 124 to operate one ormore components of the controller 118, and to thereby control operationof any of the components of the system 100 described herein. In anexample embodiment, a user interface 122 can include one or more inputdevices or output devices integral or peripheral to the controller 118.Examples of input devices associated with the controller 118 caninclude, e.g., a keyboard, keypad, a mouse, a trackball, a pen sensor orsmart pen, a light pen or light gun, a game controller such as ajoystick or game pad, a voice input device such as a microphone,voice-recognition device, or speech-recognition device, a touch inputdevice such as a touchscreen, a gestural or motion input device such asa depth camera, a grip sensor, an accelerometer, another haptic input, avisual input device such as one or more cameras or image sensors, andthe like.

Examples of output devices associated with the controller 118 caninclude a display, a printer, audio speakers, beepers, or other audiooutput devices, a vibration motor, linear vibrator, or other hapticoutput device, and the like. For example, the operator station 110 mayinclude a display 126 or other such output device operably connected tothe controller 118. In some examples, such a display 126 may be or mayinclude an organic light-emitting-diode (OLED) display, a liquid-crystaldisplay (LCD), a cathode-ray tube (CRT), or another type of visualdisplay. Such a display 126 can be a component of a touchscreen, or caninclude a touchscreen. In any of the examples described herein, thedisplay 126 may be configured to provide information associated with thepod 120 and/or with one or more items disposed within the pod 120. Suchinformation may include, for example, contents of the pod 120, the massof the pod 120, the original rack, bin, or other storage location of thepod 120, a manufacturer of the items disposed within the pod 120, anexpiration date or a manufacturing date of such items, and/or any otherinformation associated with filling an order using items disposed withinthe pod 120. The display 126 may also be configured to provideinformation associate with one or more totes 106 directed to theoperator station 110 and/or with individual orders corresponding to eachrespective tote 106 directed to the operator station 110. Suchinformation may include, for example, a customer name, a shippingaddress, an order date, a shipping service (e.g., U.S. Postal Service,Federal Express®, United Parcel Service®), and/or an item quantity,and/or other information associated with an order corresponding to arespective tote 106. In example embodiments, the operator 124 may viewsuch information via the display 126, and may transfer one or more itemsfrom a pod 120 directed to the operator station 110, to one or moretotes 106 directed to the operator station 110, in order to fulfillcorresponding orders.

As shown in FIG. 1, in some examples the system 100 may also include atleast one imaging device 128. In example embodiments, the imaging device128 may be in communication with, and/or operably connected to thecontroller 118 via one or more networks 130. The imaging device 128 maybe any device or device component configured to obtain a photograph,digital photo, and/or other image of at least part of the system 100.For example, the imaging device 128 may be positioned and/or otherwiseconfigured to obtain multiple digital images of the first and secondtote handling assemblies 102, 104, one or more totes 106 disposed on thetote handling assemblies 102, 104, the pod handling assembly 116, and/orone or more pods 120 disposed on the pod handling assembly 116 duringoperation of the system 100.

The imaging device 128 may comprise, for example, a digital camera, awireless phone, a tablet computer, a laptop computer, and/or any otherdevice including photo, video, and/or digital imaging functionality. Forexample, the imaging device 128 may comprise a digital camera configuredto capture video and/or digital images of any object or objects, such asone or more totes 106, disposed within a field of view of the camera. Insuch examples, the imaging device 128 may include one or more processorsconfigured to execute stored instructions and/or to control operation ofthe camera in response to one or more inputs received from an operator124 and/or from the controller 118. The imaging device 128 may alsoinclude one or more communication interfaces configured to provide aconnection with and facilitate the transfer of data, images, video,files, and/or other information via the network 130 and/or via a wiredconnection between the controller 118 and the imaging device 128. Theimaging device 128 may also include one or more removable and/ornon-removable memories. The memory may comprises one or morenon-transitory computer-readable storage media that is similar to and/orthe same as the memory described above with respect to the controller118. The memory of the imaging device 128 may be configured to storedata, images, video, files, and/or other information captured by theimaging device 128, such as images of one or more totes 106, and/orimages of various components of the system 100.

The network 130 may include one or more personal area networks (“PAN”),local area networks (“LAN”), wide area networks (“WAN”), the internet,and so forth. For example, the communications interfaces of the imagingdevice 128 may include radio modules for a WiFi LAN and a Bluetooth PAN.Such communication interfaces of the imaging device 128 may be incommunication with and/or operably connected to similar communicationinterfaces of the controller 118.

In some examples, the system 100 may also include one or more sensors132 a, 132 b (referred to collectively as “sensors 132”) incommunication with and/or operably connected to the controller 118 viathe network 130 and/or via one or more wired connections. Such sensors132 may comprise, for example, proximity sensors, photo eyes, thermalsensors, mass sensors, infrared sensors, and/or any combination thereof.Such sensors 132 may be configured to determine a proximity, a location,a mass, a temperature, and/or any other characteristic associated with,for example, one or more of the totes 106 and/or with one or more itemsdisposed within the totes 106. In example embodiments, the system 100may include at least one of an imaging device 128 or a sensor 132 incommunication with the controller 118 and configured to determine anorientation of a tote 106 relative to at least one component of thesystem 100 and/or relative to a fixed reference (e.g., relative to atleast one of the longitudinal axes A, C and/or at least one of thetransverse axes B, D). For example, at least one of the sensors 132either alone or in combination with the imaging device 128 may beconfigured to determine a position, a velocity, an acceleration, analignment, an orientation, and/or other characteristic of a tote 106disposed on at least one of the tote handling assemblies 102, 104. Inexample embodiments, the orientation and/or alignment described hereinmay comprise an angular orientation and/or an orientation expressed orotherwise determined in Cartesian coordinates. Such an orientationand/or alignment may be determined relative to, for example, at leastone of the longitudinal axes A, C and/or at least one of the transverseaxes B, D. In such examples, the display 126 may be configured todisplay and/or otherwise provide information indicative of and/orotherwise associated with the orientation of each respective tote 106.

In some examples, at least one of the sensors 132 and/or the imagingdevice 128 may be configured to determine, for example, an orientationand/or alignment of a tote 106 relative to at least one of thelongitudinal axes A, C and/or at least one of the transverse axes B, D,and the at least one of the sensors 132 and/or the imaging device 128may generate one or more signals including information indicative of thedetermined orientation. The at least one of the sensors 132 and/or theimaging device 128 may direct such signals to the controller 118 and, insuch examples, the controller 118 may compare the determined orientationwith one or more orientation thresholds stored in a memory of thecontroller 118.

For example, in a hypothetical situation during operation of the system100, the at least one of the sensors 132 and/or the imaging device 128may determine that a sidewall of a particular tote 106 is disposed at aparticular included angle (e.g., a determined angle of 10 degrees)relative to the transverse axis B of the first tote handling assembly102. In situations in which an example orientation threshold associatedwith the transverse axis B has a value that is less than the determinedangle (e.g., an orientation threshold having an example value of 8degrees, or any other value less than 10 degrees), the controller 118may determine that the orientation of the particular tote 106 is aboveor otherwise outside of the acceptable orientation threshold. In suchexamples, the controller 118 may provide an alert, an alarm, and/orother information to an operator via the display 126 and/or other outputdevices associated with the controller 118 indicating that thedetermined orientation of the tote 106 is outside of the acceptableorientation threshold. In some examples, the controller 118 may controlthe first tote handling assembly 102, the second tote handling assembly104, and/or other components of the system 100 to temporarily haltoperation in response to such a determination. Stopping operation inthis way may enable the operator 124 to reorient the particular tote 106such that normal system operation can resume. It is understood thatsimilar determinations and/or operations may be performed based on anorientation and/or orientation threshold associated with any of the axesA, B, C, D, E, tote handling assemblies 102, 104, and/or pod handlingassemblies 116 described herein. Further, in additional embodiments,such orientation thresholds may have any value greater than or less than8 degrees, and the above example should not be interpreted to limit thepresent disclosure in any way. In any of the example embodimentsdescribed herein, at least one of the controller 118, the user interface122, the display 126, the imaging device 128, and/or the sensors 132 maybe a component of at least one of the tote handling assemblies 102, 104.

In additional examples, at least one of the sensors 132 and/or theimaging device 128 may be configured to determine, for example, whetheran item has been placed within in one or more of the totes 106, anidentity of one or more items disposed within one or more of theparticular totes 106, an orientation and/or alignment of such an itemwithin one or more of the totes 106, and/or any other visually,thermally, or otherwise distinguishable characteristic of such items. Insuch examples, at least one of the sensors 132, the controller 118,and/or the imaging device 128 may employ image recognition software,neural networks, and/or other components to assist in making suchdeterminations. For example, in such embodiments at least one of thesensors 132 and/or the imaging device 128 may scan a tote 106 before anitem has been placed in the tote 106, and may generate one or moresignals including information indicative of the tote 106 without theitem. Once an item has been placed within the tote 106, at least one ofthe sensors 132 and/or the imaging device 128 may scan the same tote 106again to determine the presence of the item, the identity of the item,the orientation of the item, etc., and may generate one or moreadditional signals including information indicative of the tote 106 withthe item disposed therein. The at least one of the sensors 132 and/orthe imaging device 128 may direct such signals to the controller 118and, in such examples, the controller 118 may identify the item usingimage recognition software stored in a memory of the controller 118. Insome examples, the imaging device 128 may capture a first image of thetote 106 without the item disposed in the tote 106, and may capture asecond image of the tote 106 with the item disposed within the tote 106.The imaging device 128 may send respective signals to the controller 118including information indicative of such images. The controller 118 maydetermine the presence of such an item and/or the identity of such anitem by, for example, comparing the two images and identifying a changein one or more pixels included in the images based on the comparison.

FIGS. 2 and 3 illustrate various components of an example tote handlingassembly 102, and FIG. 4 illustrates various components of anotherexample tote handling assembly 400. The tote handling assembly 104described above with respect to FIG. 1 may be substantially similar toand/or the same as either the example tote handling assembly 102 or thetote handling assembly 400 and, in some embodiments, the tote handlingassembly 104 described above with respect to FIG. 1 may includesubstantially similar and/or the same components as either of the totehandling assemblies 102, 400. Accordingly, unless otherwise noted, thedescriptions of the tote handling assemblies 102, 400 illustrated inFIGS. 2, 3, and 4 may also be applicable to the tote handling assembly104.

As shown in FIG. 2, the tote handling assembly 102 may include a wiperbar 200 extending substantially parallel to the longitudinal axis A ofthe tote handling assembly 102. In such examples, the wiper bar 200 maycomprise a substantially planar, substantially rigid, and/orsubstantially linear rod, bar, shaft, arm, and/or other structure thatis configured to move linearly relative to one or more components of thetote handling assembly 102. For example, the wiper bar 200 may extendsubstantially from the first end 112 of the tote handling assembly 102to the second end 114. In such examples, the wiper bar 200 may bemovable along the transverse axis B of the tote handling assembly 102.In particular, the wiper bar 200 may be movable in the direction Z thatis along or substantially parallel to the transverse axis B of the totehandling assembly 102, and in the direction Z′ that is along orsubstantially parallel to the transverse axis B. The wiper bar 200 mayhave any length, width, and/or other dimension or configuration suchthat the wiper bar 200 may be configured to move a plurality of totes106 simultaneously relative to the rollers 108 and/or other componentsof the tote handling assembly 102. The wiper bar 200 may be made fromany metal, alloy, and/or other like material, and may be rigid enough towithstand unbalanced torque forces associated with simultaneously movingone or more totes 106 disposed on the tote handling assembly 102, suchas totes 106 at different respective locations on the tote handlingassembly 102, without significant levels of flexing or bending. Asillustrated in FIG. 2, in some examples, the wiper bar 200 may bedisposed beneath the rollers 108 such that the rollers 108 may bedisposed between, for example, the wiper bar 200 and one or more totes106 disposed on the tote handling assembly 102.

The tote handling assembly 102 may also include one or more actuators202 a, 202 b, 202 c, 202 d, 202 e . . . 202 n (collectively referred toas “actuators 202”) connected to and movable with the wiper bar 200.Such actuators 202 may be, for example, solenoids, pneumatic actuators,and/or any other device configured to controllably move a component ofthe tote handling assembly 102 connected thereto by a finite stroke orother linear distance. Although the tote handling assembly 102illustrated in FIG. 2 includes five actuators 202, in further examples,the tote handling assembly 102 may include greater than or less thanfive actuators 202 connected to the wiper bar 200. In such examples, afirst actuator 202 a may be spaced from a second adjacent actuator 202b, along the length of the wiper bar 200 in the direction X, by anydesired distance, and such spacing may correspond to, for example, thelength, and/or width dimensions of the totes 106 carried by the totehandling assembly 102. For example, each of the actuators 202 may bedisposed along the wiper bar 200 at locations corresponding toapproximate positions of the totes 106 when a plurality of totes 106 aredisposed substantially adjacent to one another on the rollers 108 of thetote handling assembly 102. In some examples the actuators 202 may befixedly connected to the wiper bar 200 while in other examples, at leastone of the actuators 202 may be moveably connected to the wiper bar 200.

In example embodiments, the tote handling assembly 102 may also includeat least one tab 204 a, 204 b, 204 c, 204 d, 204 e . . . 204 n (referredto collectively as “tabs 204”). Each of the tabs 204 may be spaced fromone another along the longitudinal axis of A of the tote handlingassembly 102. For example, a first tab 204 a may be spaced from a secondadjacent tab 204 b along the longitudinal axis A, and so on. In someexamples, the two or more adjacent tabs 204 may be spaced from oneanother along, for example, the wiper bar 200. For instance, in someexamples, at least one of the tabs 204 a may be connected to arespective actuator 202 a, and such a tab 204 a may be spaced from anadjacent tab 204 b along the wiper bar 200 regardless of the manner inwhich the adjacent tab 204 b is connected to and/or otherwise associatedwith the wiper bar 200. In such examples, the adjacent tab 204 b may bedirectly connected to the wiper bar 200, or may be indirectly connectedto the wiper bar 200 via one or more rods, shafts, arms, or otherlinkages (not shown). In additional examples, each tab 204 may beconnected to a respective actuator 202 at spaced locations along thewiper bar 200. In such examples, one or more of the tabs 204 may bedirectly connected to a respective actuator 202, as shown in FIG. 2.Alternatively, in some examples, one or more of the tabs 204 may beindirectly connected and/or otherwise coupled to a respective actuator202 via one or more rods, shafts, arms, or other linkages (not shown).

In any of the example embodiments described herein, each of theactuators 202 may be configured to move a corresponding tab 204connected thereto, either directly or indirectly, in a direction Y andin a direction Y′. Such directions may be, for example, substantiallyperpendicular to a plane of the tote handling assembly 102 that includesthe longitudinal axis A and the transverse axis B. Additionally, themovement of such tabs 204 may correspond to a stroke of thecorresponding actuator 202. For example, each actuator 202 may have afinite stroke or displacement in the direction Y, and upon activation,the actuators 202 may move the tab 204 connected thereto a distancesubstantially equal to such a stroke.

The example tabs 204 of the present disclosure may have any shape, size,orientation, or other configuration configured to assist in engagingwith a tote 106 disposed on the tote handling assembly 102. For example,each tab 204 may one or more prongs, fingers, extensions, and/or otherlike components configured to engage the surface of the tote 106.Engaging the tote 106 in this way may assist the tab 204 in moving thetote 106, for example, the direction Z that is along or substantiallyparallel to the transverse axis B of the tote handling assembly 102. Forinstance, while the actuators 202 are disengaged, the tab 204 may remainsubstantially below a top surface of the rollers 108 such that the tab204 may not contact a corresponding tote 106 disposed on the totehandling assembly 102. Engaging one of the actuators 202, however, maymove a tab 204 connected to the actuator 202 vertically in the directionY such that the tab 204 may engage the tote 106. For example, theplurality of rollers 108 include a first roller and a second rollerdisposed substantially adjacent to the first roller. In such examples,the second roller may be spaced from the first roller in the direction Xby a gap. Accordingly, when the actuator 202 is engaged to move the tab204 vertically in the direction Y, the tab 204 may extend at leastpartly into the gap to engage the tote 106. For example, one or more ofthe prongs, fingers, extensions, and/or other components of the tab 204may extend at least partly into the gap while the tab 204 is engagedwith the tote 106.

As noted above, the actuators 202 may be disposed at fixed locationsalong the length of the wiper bar 200, and the actuators 202 may bespaced, in the direction X, such that a respective tab 204 connected toeach actuator 202 is positioned to engage a respective tote 106 of aplurality of totes 106 disposed on the tote handling assembly 102.Accordingly, movement of the wiper bar 200 in the direction Z that isalong or substantially parallel to the transverse axis B of the totehandling assembly 102, while the tab 204 is engaged with a tote 106, maymove the tote 106 in the direction Z that is along or substantiallyparallel to the transverse axis B. Likewise, in embodiments in which thesystem 100 includes first and second tote handling assemblies 102, 104,it is understood that movement of a wiper bar 200 of the second totehandling assembly 104 in the direction Z′, while a tab 204 of the secondtote handling assembly 104 is engaged with a tote 106 disposed on thesecond tote handling assembly 104, may move the tote 106 in thedirection Z′. In any of the example embodiments described herein, theone or more actuators 202 of the tote handling assembly 102 may beoperably and/or otherwise connected to the controller 118 (FIG. 1), andthe controller 118 may be configured activate and deactivate each of theactuators 202 independently.

As shown in FIG. 2, the tote handling assembly 102 may also include oneor more components, such as one or more sleeves 206 a, 206 b (referredto collectively as “sleeves 206”), guide rods 208 a, 208 b (referred tocollectively as “guide rods 208”), linkages 210 a, 210 b (referred tocollectively as “linkages 210”), fittings 212 a, 212 b, 212 c, 212 d(referred to collectively as “fittings 212”), and/or other componentsconfigured to facilitate moving the wiper bar 200 in the directions Z,Z′ along or substantially parallel to the transverse axis B of the totehandling assembly 102. As will be described below, such components maybe directly or indirectly connected to and/or supported by a frame 214of the tote handling assembly 102, and in some embodiments, suchcomponents may include one or more additional actuators 216 a, 216 b(referred to collectively as “actuators 216”) configured to move thewiper bar 200 in the directions Z, Z′ along or substantially parallel tothe transverse axis B.

The frame 214 may comprise any substantially rigid structure orcombination of structures configured to support the various componentsof the tote handling assembly 102, and to support a plurality of totes106, carried by the tote handling assembly 102. In some examples, theframe 214 may include any number of rails, linkages, truss structures,supports, or other like structures configured to add rigidity, and/orstrength to the frame 214. In such examples, the frame 214 may have anyshape, size, length, width, height, and/or other configurationconfigured to assist in supporting the various components of the totehandling assembly 102. For example, while the frame 214 illustrated inFIG. 2 may have a substantially rectangular shape, in other examplesframe 214 may be substantially square, substantially rounded, curve,trapezoidal, and/or any other shape configured to assist in directing aplurality of totes 106 to the operator station 110 (FIG. 1). The frame214 may be made from steel, aluminum, and/or any other any metal oralloy, and in some examples, the frame 214 may include one or moreflanges, brackets, shelves, platforms, and/or other surfaces arestructures to which any of the components described herein with respectto the tote handling assemblies 102, 104, 400 and/or the pod handlingassembly 116 may be mounted. Further, any of the axes A, B, C, D, Edescribed herein and/or any of the planes defined by such axes definedby one or more structures or portions of the frame 214.

In any of the examples described herein, the wiper bar 200 may besupported by the frame 214, and may be moveable in the directions Z, Z′along or substantially parallel to the transverse axis B relative to theframe 214. For example, the sleeves 206 a, 206 b may be connected to thewiper bar 200 at opposite ends of the wiper bar 200, and the sleeves 206may moveably connect the wiper bar 200 to the guide rods 208. Forexample, each sleeve 206 may include an opening, a channel, and/or apassage having a shape, diameter, and/or other configuration to accept acorresponding guide rod 208. In some examples, the guide rod 208 maycomprise a substantially cylindrical shaft extending along substantiallyan entire width or length of the frame 214 in the direction Z. In suchexamples, the sleeves 206 may include a substantially cylindricalpassage configured to accept the guide rods 208, and to movably connectthe wiper bar 200 to the guide rod 208. As shown in FIG. 2, in someexamples the guide rod 208 a may be disposed at the first end 112 of theframe 214, and the guide rod 208 b may be disposed substantiallyparallel to the guide rod 208 b at the second end of the frame 214. Insuch examples, the guide rods 208 may be disposed substantially parallelto the transverse axis B and/or substantially parallel to one or morerollers 108 of the tote handling assembly 102 connected to the frame214. In such examples, the sleeves 206 may be configured to ride alongand/or be otherwise supported by an outer diameter of the guide rods 208as the wiper bar 200 moves in the directions Z, Z′ described above. Tofacilitate such movement, in some examples the sleeves 206 may includeone or more bushings, bearings, follower surfaces, and/or othercomponents figured to minimize resistance, friction, and/or other personloads associated with moving the wiper bar 200 while the sleeves 206 areconnected to the guide rods 208. Further, although the guide rods 208are illustrated in FIG. 2 as having a substantially cylindrical shape,in other embodiments, one or more of the guide rods 208 may have across-section that is substantially square, substantially L-shaped,substantially rectangular, substantially oval, and/or any other shape.Further, it is understood that the guide rods 208 may be fixedlyconnected to the frame 214, via one or more flanges, brackets, surfaces,and/or other components of the frame 214.

At least one of the actuators 216 may also be connected to the frame214, via one or more flanges, brackets, surfaces, and/or othercomponents. In some examples, such actuators 216 may comprise, forexample, any servo motor, AC motor, DC motor, stepper motor, and/orother motor, pneumatic device, and/or other device having an outputshaft configured to rotate in a desired direction (e.g., clockwise orcounterclockwise) at a desired fixed speed and/or at a desired variablespeed. Such actuators 216 may comprise, for example, any electric motoror other motor known in the art. In the example embodiment of FIG. 2,the actuator 216 a may be connected to the frame 214 at the first end112, and the actuator 216 b may be connected to the frame 214 at thesecond end 114, and in any of the examples described herein, the one ormore actuators 216 of the tote handling assembly 102 may be operablyand/or otherwise connected to the controller 118 (FIG. 1), and thecontroller 118 may be configured activate and deactivate each of theactuators 216 independently or in combination. For example, inembodiments in which the tote handling assembly 102 includes twoactuators 216, the controller 118 may control operation of the actuators216 in accordance with any common master-slave drive relationship. Insuch a control architecture, the controller 118 may control therespective output shafts of the actuators 216 to rotate at substantiallythe same speeds and/or in the same or opposite directions to facilitatemovement of the wiper bar 200, for example, the in the directions Z, Z′.

For example, the controller 118 may control the speed, acceleration,deceleration, starting time, stopping time, and/or direction at whichthe respective output shafts of the actuators 216 rotate duringoperation of the tote handling assembly 102, and as a result, the one ormore actuators 216 may be operable to move the wiper bar 200, along thefirst and second guide rods 208 in the directions Z, Z′. Thus, inembodiments in which the tote handling assembly 102 includes twoactuators 216 (e.g., a first motor 216 a disposed at the first end 112of the frame 214 and a second motor 216 b disposed at the second end114) operably and/or otherwise connected to the wiper bar 200, such asvia one or more linkages 210, the controller 118 may control operationof the actuators 216 such that the first actuator 216 a may be operableto move the wiper bar 200 in the directions Z, Z′ in combination and/orotherwise in concert with the second actuator 216 b.

In any of the examples described herein, the linkage 210 a may connectthe actuator 216 a to the wiper bar 200 at the first end 112 of theframe 214, and the linkage 210 b may connect the actuator 216 b to thewiper bar 200 at the second 114 of the frame 214. As shown in FIG. 2, insome examples the linkages 210 may comprise one or more belts, chains,shafts, tracks, and/or other movable linkage devices configured totranslate torque and/or rotational force provided by the respectiveoutput shafts of the actuators 216 to the wiper bar 200. In this way,the linkages 210 may cause substantially linear motion of the wiper bar200 along the guide rods 208 in response to rotation of the respectiveoutput shafts of the actuators 216. In any of the examples describedherein, the wiper bar 200 may be fixedly connected to the linkages 210,and the linkages 210 may be movably connected to the frame 214 such thatactivation of one or more actuators 216 may move the linkages 210relative to the frame 214. As a result of the fixed connection betweenthe wiper bar 200 and the linkages 210, such movement of the linkages210 relative to the frame 214 may cause corresponding movement of thewiper bar 200 relative to the frame 214 in the directions Z, Z′.

For example, the sleeve 206 a may be bolted, clamped, welded, crimped,mesh, and/or otherwise fixedly connected to the linkage 210 a at thefirst end 112 of the frame 214, and the sleeve 206 b may be fixedlyconnected to the linkage 210 b at the second end 114 of the frame 214 ina similar manner. In such embodiments, an output shaft of the one ormore actuators 216 may mate with a corresponding linkage 210 such thatrotation of the output shaft may drive and/or otherwise causecorresponding rotation and/or other movement of the respective linkage210 relative to the frame 214. In some examples, the linkages, 210 maybe direct contact with the output shafts of the respective actuators216, while in other examples, one or more gears, pulleys, bearings,bushings, and/or other fittings structures may be employed to mate anoutput shaft of an actuator 216 with a respective linkage 210.Additionally, one or more such fittings 212 may be rotatably mounted tothe frame 214, and may be configured to facilitate movement of thelinkages 210 relative to the frame 214. For example, each linkage 210may mate with a pair of fittings 212 disposed at each end 112, 114 ofthe frame 214, and each pair of fittings 212 may facilitate rotation ofthe corresponding linkage 210 relative to the frame 214 as the linkage210 is driven by a corresponding actuator 216 of the tote handlingassembly 102.

FIG. 3 illustrates another view (e.g., a top isometric view) of the totehandling assembly 102. In the example embodiment shown in FIG. 3, therollers 108 (FIG. 2) rotatably connected to the frame 214 have beenomitted for clarity. As shown in FIG. 3, the frame 214 may include oneor more rails, such as a rail 300 disposed along a back edge, and/orportion of the frame 214. Such a rail 300 may assist in guiding movementof the totes 106 as the totes 106 move along the tote handling assembly102 in the directions X, X′. Such a rail 300 may extend alongsubstantially an entire length of the frame 214, such as from the firstend 112 to the second end 114. In other examples, the frame 214 mayinclude one or more additional rails 300, and such additional rails 300may be disposed along substantially an entire width of the frame 214(e.g., proximate the first or second end 112, 114), along a front edgeof the frame 214, and/or at any other desired location along the frame214 to assist in guiding movement of the totes 106 during operation ofthe tote handling assembly 102.

FIG. 3 also illustrates the example movable connection between thesleeve 206 a, and the guide rod 208 a at the first end 114 of the frame214, as well as the example fixed connection between the sleeve 206 aand the linkage 210 a. Further, FIG. 3 illustrates an example engagementbetween the tab 204 a and a first tote 106 a. As shown in FIG. 3, thetab 204 a, may comprise one or more prongs, fingers, extensions, and/orother like components configured to engage a surface of the tote 106 a.In particular, the tabs 204 described herein may contact respectiveexterior surfaces of a back wall 302, a front wall 304 disposed oppositethe back wall 302, a base 306 and/or one or more side walls 308, 310 ofa tote 106 substantially perpendicular to one or both of the walls 302,304. Engaging a tote 106 in this way may assist the tab 204 in movingthe tote 106, for example, the direction Z relative to the frame 214.

For instance, as illustrated in FIG. 3, while the actuator 202 a isactivated, the tab 204 a connected to the actuator 202 a may be movedvertically in the direction Y such that the tab 204 a may engage theback wall 302 and/or the base 306 of the tote 106 a. Accordingly,movement of the wiper bar 200 in the direction Z, while the tab 204 a isengaged with the tote 106 a, may move the tote 106 a in the direction Z.In particular, while engaged with at least the back wall 302 of the tote106 a, the tab 204 a may be configured to apply a force to the back wall302 in the direction Z as the wiper bar 200 is moved in the direction Z.Such a force may effectively push the tote 106 a along an outer surfaceof one or more of the substantially cylindrical rollers 108 (not shown)in the direction Z. Movement of the tote 106 a may be more effective andmore accurate than, for example, other methods of moving totes 106 inwhich contact is only made between rollers 108 and/or other componentsof the tote handling assembly and the outer surface of the base 306. Inparticular, such methods may rely on gravity and friction to move thetote, without the direct force applied by the example tabs 204 of thepresent disclosure. While FIG. 3 illustrates the tab 204 a mating withthe tote 106 a to move the tote in the Z direction, it is understoodthat the tote assemblies 102, 104 described herein may be configured tomove one or more items other than totes. For example, in otherembodiments, one or more items other than totes 106, such as inventoryitems configured to be disposed within the totes 106 or pods 120described herein, may be disposed on the rollers 108 directly, and maybe acted on by, for example, the tabs 204. In such examples, the tabs204 may engage at least a portion of such items, and may be configuredto apply a force to such items in the direction Z as the wiper bar 200is moved in the direction Z. Additionally, the rollers 108 may beconfigured to move such items in the directions X, X′ by applying aforce directly to such items.

As noted above, FIG. 3 illustrates an example embodiment in which thetab 204 a engaged with the back wall 302 of the tote 106 a. In suchembodiments, the tote 106 a may be disposed at an initial position inwhich the back wall 302 is proximate and/or substantially adjacent tothe rail 300 (as with the positions of totes 106 b-106 e illustrated inFIG. 3). The wiper bar 200 may also be disposed at an initial positionproximate and/or substantially adjacent to a back 312 of the frame 214,such as proximate the rail 300. As a result, when the actuator 202 a isactivated to move the tab 204 a vertically in the direction Y, the tab204 a may be positioned to engage at least the back wall 302 of the tote106 a, and to apply a force to the back wall 302 in the direction Z asthe wiper bar 200 is moved in the direction Z. In other exampleembodiments, on the other hand, the tab 204 a may be configured toengage the front wall 304 of the tote 106 a. In such embodiments, thetote 106 a may be disposed at the initial position described above inwhich the back wall 302 is proximate and/or substantially adjacent tothe rail 300. The wiper bar 200 may, however, be disposed at an initialposition proximate and/or substantially adjacent to a front 314 of theframe 214 opposite the back 312. As a result, when the actuator 202 a isactivated to move the tab 204 a vertically in the direction Y, the tab204 a may be positioned to engage at least the front wall 304 of thetote 106 a, and to apply a force to the front wall 304 in the directionZ′ as the wiper bar 200 is moved in the direction Z′ from the front 314of the frame 214 to the back 312. Such a configuration may be employed,for example, by the second tote handling assembly 104 (FIG. 1) in orderto transfer the tote 106 a from the second tote handling assembly 104 tothe first tote handling assembly 102.

In still further examples, one or more of the tabs 204 described hereinmay be rotatable, pivotable, and/or otherwise moveable relative to thetotes 106, the actuators 202, the frame 214, the wiper bar 200, therollers 108, and/or other components of the tote handling assembly 102.For example, in some embodiments in which the position and/ororientation of the tabs 204 are fixed relative to the actuators 202and/or the wiper bar 200, the tabs 204 may be operable to either engageat least the back wall 302 of a respective tote 106 and to apply a forceto the back wall 302 in the direction Z as the wiper bar 200 is moved inthe direction Z, or to engage at least the front wall 304 of therespective tote 106 and to apply a force to the front wall 304 in thedirection Z′ as the wiper bar 200 is moved in the direction Z′. Inexamples in which a tab 204 is rotatable at least approximately 108degrees in the clockwise and/or counterclockwise direction about an axisextending substantially parallel to the direction Y, such as alongitudinal axis of a shaft or other component of a correspondingactuator 202, the tab 204 may be configured to engage either the frontwall 304 or the back wall 302 of the tote 106 depending on theorientation of the tab 204 about such an axis and on the initialposition of the wiper bar 200. Such functionality may enable a singletote handling assembly 102 to apply a force to the tote 106 in either ofthe directions Z, Z′ and, as a result, may enable such a tote handlingassembly 102 to move the tote 106 in either of the directions Z, Z′during operation.

It is understood that one or more servo motors, electric motors,solenoids, pneumatic actuators, and/or other such devices may beconnected to the tabs 204 and/or to the actuators 202 to facilitate suchrotation of the tabs 204. In still further examples, such devices may beconnected to the wiper bar 200, and such devices may rotate the actuators 202 and the corresponding tabs 204 relative to the wiper bar 200 tofacilitate such functionality. In any of the examples described herein,such devices may be operably and/or otherwise connected to thecontroller 118 (FIG. 1), and the controller 118 may be configuredactivate and deactivate each of the devices independently.

FIG. 4 illustrates a further example tote handling assembly 400 of thepresent disclosure. The example tote handling assembly 400 of FIG. 4 maybe substantially the same as the example tote handling assemblies 102,104 described herein and/or substantially the same as the example podhandling assemblies 116. Accordingly, as identified using like itemnumerals in FIG. 4, the tote handling assembly 400 may havesubstantially similar and/or the same components as at least one of thetote handling assemblies 102, 104 and/or the pod handling assemblies116. Accordingly, unless otherwise noted, the descriptions of the totehandling assemblies 102, 104 and/or the pod handling assemblies 116illustrated in FIGS. 1, 2, and 3 may also be applicable to the totehandling assembly 400 shown in FIG. 4.

As shown in FIG. 4, the example tote handling assembly 400 may include,among other things, a wiper bar 200 extending substantially parallel tothe longitudinal axis A of the tote handling assembly 400. In suchexamples, the wiper bar 200 may be disposed beneath a plurality ofrollers 108, and may be movable along the transverse axis B of the totehandling assembly 400. In particular, the wiper bar 200 may be movablein the direction Z that is along or substantially parallel to thetransverse axis B of the tote handling assembly 400 and in the directionZ′ that is along or substantially parallel to the transverse axis B. Thetote handling assembly 400 may also include one or more actuators 202connected to and movable with the wiper bar 200, and at least one tab204 connected to each respective actuator 202. In such embodiments, eachof the actuators 202 may be configured to move a corresponding tab 204connected thereto in a direction Y and in a direction Y′. In addition,the tote handling assembly 400 may include one or more components, suchas one or more sleeves 206, guide rods 208, linkages 210, fittings 212,and/or other components configured to facilitate moving the wiper bar200 in the directions Z, Z′ along or substantially parallel to thetransverse axis B of the tote handling assembly 400. Such components maybe directly or indirectly connected to and/or supported by a frame 214of the tote handling assembly 400, and in some embodiments, suchcomponents may include an actuator 216 a configured to move the wiperbar 200 in the directions Z, Z′ along or substantially parallel to thetransverse axis B. Moreover, such components may be substantiallysimilar to and/or the same as the corresponding components describedabove with respect to at least FIGS. 2 and 3.

In the example embodiment of FIG. 4, however, the second actuator 216 bdiscussed above with respect to FIG. 2 may be omitted. Instead, a singleactuator 216 a, such as a servo motor, an electric motor, and/or any ofthe devices described above with the actuators 216 of FIG. 2 may beemployed by the tote handling assembly 400 to drive movement of thewiper bar 200 relative to the frame 214. Omitting the second actuator216 b from the embodiment shown in FIG. 4 may further reduce the overallcost of the tote handling assembly 400 with respect to known systems,and may reduce the cost of the tote handling assembly 400 relative tothe other tote handling assemblies 102, 104 described herein.

In such an example embodiment, the single actuator 216 a may beconnected to linkage 210 a as described above with respect to FIG. 2.Additionally, the tote handling assembly 400 may include one or moresynchronous belts, chains, tracks, shafts, rods, and/or other linkages402 extending from the first end 112 to the second end 114. Such alinkage 402 may mate with, for example, the actuator 216 a, the linkage210 a, and/or the fitting 212 a to drive motion of the linkage 210 bdisposed at the second end 214. In such examples, one or more additionalgears, pulleys, clamps, brackets, bushings, and/or other such fittingsmay be provided at the intersection of the linkage 402 and, for examplethe linkages 210 a, 210 b to facilitate a mating relationship betweensuch linkages 210 a, 210 b, and the linkage 402. Due to the connectionbetween the linkages 210 a, 210 b, 402 described herein, rotation of theoutput shaft of the single actuator 216 a may drive movement of thelinkage 210 b relative to the frame 214. In particular, torque and/orrotational force provided by the output shaft of the actuator 216 a maydrive rotation and/or other movement of the linkage 210 a relative tothe frame 214. Such movement may be, for example, about the fittings 212a, 212 c. Additionally, the linkage 402 connecting the linkages 210 a,210 b may be configured to translate torque and/or rotational force fromthe output shaft of the actuator 216 a, and/or from commensuratemovement of the fitting 212 a and/or the linkage 210 a, to the linkage210 b. In this way, the linkage 410 may drive movement of the linkage210 b in concert with the movement of the linkage 210 a. Thus, due tothe connection between the linkages 210 a, 210 b, 402 described herein,rotation of the output shaft of the single actuator 216 a shown in FIG.4 may drive movement of the wiper bar 200 connected to the linkages 201a, 210 b in the directions Z, Z′.

As noted above, in any of the example systems 100 described herein,various tote handling assemblies 102, 104 may be utilized to move one ormore totes 106 to a location proximate a user station 110. For example,the various wiper bars 200, rollers 108, actuators 202, actuators 216,and/or other components of the respective tote handling assemblies 102,104 may be configured to provide one or more totes 106 to the locationproximate the user station 110 in any desired order and at any desiredarrival time. The sequential order, arrival time, and/or othercharacteristics of the totes 106, directed toward the user station 110may correspond to, for example, one or more orders to be filled at theoperator station 110 using items delivered to the operator station 110in one or more pods 116. In some examples, providing one or more totes106 to a location proximate the user station 110 in a desired orderand/or at any desired arrival time may enable an operator 124 to removea required quantity of items from an arriving pod 120 and dispose theremoved items within each of the totes 106 in an efficient and reliablemanner.

In order to facilitate such order fulfillment operations, the controller118 may control an actuator 202 a to move a tab 204 a connected to theactuator 202 a in the direction Y that is substantially perpendicular toa plane formed by the longitudinal and transverse axes A, B of the firsttote handling assembly 102. It is understood that the direction Y may bevertically upward relative to, for example, the rollers 108 and/orvarious other components of the first tote handling assembly 102 onwhich one or more totes 106 may be disposed. Additionally, moving thetab 204 a in the direction Y may cause the tab 204 a to contact and/orotherwise engage the base 306 and/or the back wall 302 of a particulartote 106 a disposed on the first tote handling assembly 102. In someexamples, moving the tab 204 a in the direction Y to engage the base 306and/or the back wall 302 may cause one or more prongs, fingers,extensions, and/or other components of the tab 204 a to extend at leastpartly into a gap between adjacent rollers 108 of the first totehandling assembly 102. In such examples, the one or more prongs,fingers, extensions, and/or other components of the tab 204 a may extendinto the gap so as to contact at least the back wall 302 of the tote 106a. Further, in such examples, the wiper bar 200 may be disposed at aninitial position substantially adjacent and/or proximate the back 312 ofthe frame 214, such as proximate the rail 300. Moreover, in suchexamples, the tote 106 a may be in the initial position shown in FIG. 1.When the tote 106 a is in such an initial position, the tote 106 a maybe disposed, for example, substantially adjacent and/or proximate theback 312 of the frame 214, such as proximate the rail 300.

In such examples, the controller 118 may also control at least one ofthe actuators 216 described herein to move the wiper bar 200, in thedirection Z that is along and/or substantially parallel to thetransverse axis B, while the tab 204 a is engaged with the tote 106 a.Such movement of the wiper bar 200 may cause the tab 204 a to apply aforce to the back wall 302 of the tote 106 a in the direction Z. It isunderstood that such a force may be imparted to the back wall 302, viathe tab 204 a, by virtue of the tab 204 a being driven in the directionZ as the wiper bar 200 moves in the same direction. Further, in exampleembodiments in which the second tote handling assembly 104 is disposedadjacent to the first tote handling assembly 102, moving the wiper bar200 in the direction Z while the tab 204 a is engaged with the tote 106a may transfer the tote 106 a from the first tote handling assembly 102to the second tote handling assembly 104. In particular, such movementmay transfer the tote 106 a from a first location on the tote handlingassembly 102 in which the tote 106 a is supported by the rollers 108 ofthe tote handling assembly 102, to a second location on the totehandling assembly 104 in which the tote 106 a is supported by therollers 108 of the second tote handling assembly 104.

In such an example, the controller 118 may also control one or morerollers 108 of the second tote handling assembly 104 to rotate in eitherthe clockwise or the counterclockwise direction with respect to theframe 214 of the second tote handling assembly 104. Rotating the rollers108 of the second tote handling assembly 104 supporting the tote 106 ain this way may move the tote 106 a in the direction X that is alongand/or substantially parallel to the longitudinal axis C of the secondtote handling assembly 104. As can be seen from the example system 100shown in FIG. 1, moving the tote 106 a in this way may move the tote 106a toward the operator station 110 proximate the end 114 of the secondtote handling assembly 104.

In further examples, it may also be desirable or necessary to at leasttemporarily transfer the tote 106 a from the second tote handlingassembly 104 to the first tote handling assembly 102. Transferring thetote 106 a from the second tote handling assembly 104 to the first totehandling assembly 102 may allow, for example, another tote 106 b to bepositioned closer to the operator station 110 than the tote 106 a. Suchre-sequencing of the various totes 106 described herein may be requiredbased on a number of factors including the sequence and/or requirementsof the various orders being fulfilled at the operator station 110, thetiming of arrival of various pods 120 at the operator station 110,and/or other order fulfilment factors.

In such further examples, in order to transfer the tote 106 a from thesecond tote handling assembly 104 to the first tote handling assembly102, the controller 118 may control an actuator 202 c fixedly connectedto a wiper bar 200 of the second tote handling assembly 104 to move atab 204 c, connected to the actuator 202 c, in the direction Y. In suchexamples, the direction Y may be substantially perpendicular to a planeformed by the longitudinal and transverse axes C, D of the second totehandling assembly 104. It is understood that such a direction Y may alsobe vertically upward relative to, for example, the rollers 108 and/orvarious other components of the second tote handling assembly 104.Moving the tab 204 c in the direction Y may cause the tab 204 c tocontact and/or otherwise engage the base 306 and/or the front wall 304of the tote 106 a. In some examples, one or more prongs, fingers,extensions, and/or other components of the tab 204 c may extend into agap separating adjacent rollers 108 of the second tote handling assembly104 so as to contact at least the front wall 304 of the tote 106 a.Further, in such examples, the wiper bar 200 of the second tote handlingassembly 104 may be disposed at an initial position substantiallyadjacent and/or proximate the front 314 of the frame 214, such asproximate a front rail of the frame 214. Moreover, in such examples, thetote 106 a may be in an initial position proximate the front 314 of theframe 214, such as proximate a front rail of the frame 214. When thetote 106 a is in such an initial position, the tote 106 a may bedisposed, for example, in the position of either of the totes 106 c, 106d illustrated in FIG. 1.

In such examples, the controller 118 may also control at least one ofthe actuators 216 described herein to move the wiper bar 200 of thesecond tote handling assembly 104, in the direction Z′ that is alongand/or substantially parallel to the transverse axis D, while the tab204 c is engaged with at least the front wall 304 of the tote 106 a.Such movement of the wiper bar 200 may cause the tab 204 c to apply aforce to the front wall 304 of the tote 106 a in the direction Z′. It isunderstood that such a force may be imparted to the front wall 304, viathe tab 204 c, by virtue of the tab 204 c being driven in the directionZ′ as the wiper bar 200 of the second tote handling assembly 104 movesin the direction Z′ toward the first tote handling assembly 102.Further, in example embodiments in which the second tote handlingassembly 104 is disposed adjacent to the first tote handling assembly102, moving the wiper bar 200 in the direction Z′ while the tab 204 c isengaged with the front wall 304 of the tote 106 a may transfer the tote106 a from the second tote handling assembly 104 to the first totehandling assembly 102.

Additionally, in order to allow another tote 106 b to be positionedcloser to the operator station 110 than the tote 106 a, the controller118 may also control the actuator 202 b connected to the wiper bar 200of the first tote handling assembly 102 to move the tab 204 b connectedto the actuator 202 b in the direction Y. In such examples, moving thetab 204 b in the direction Y may cause the tab 204 b to contact and/orotherwise engage the base 306 and/or the back wall 302 of an additionaltote 106 b disposed on the first tote handling assembly 102. In suchexamples, one or more prongs, fingers, extensions, and/or othercomponents of the tab 204 b may extend into a gap separating adjacentrollers 108 of the first tote handling assembly 102 to contact at leastthe back wall 302 of the tote 106 b. Further, in such examples, thewiper bar 200 may be disposed at the initial position described abovesubstantially adjacent and/or proximate the back 312 of the frame 214.Moreover, in such examples, the tote 106 b may be in the initialposition shown in FIG. 1.

In such examples, the controller 118 may also control at least one ofthe motors or other actuators 216 of the first tote handling assembly102 to move the wiper bar 200 of the first tote handling assembly 102 inthe direction Z while the tab 204 b is engaged with the tote 106 b. Suchmovement of the wiper bar 200 may cause the tab 204 b to apply a forceto the back wall 302 of the tote 106 b in the direction Z. Moving thewiper bar 200 of the first tote handling assembly 102 in the direction Zwhile the tab 204 b is engaged with the tote 106 b may transfer the tote106 b from the first tote handling assembly 102 to the second totehandling assembly 104.

In such an example, the controller 118 may also control one or morerollers 108 of the second tote handling assembly 104 to rotate in eitherthe clockwise or the counterclockwise direction with respect to theframe 214 of the second tote handling assembly 104. Rotating the rollers108 of the second tote handling assembly 104 supporting the tote 106 bin this way may move the tote 106 b in the direction X that is alongand/or substantially parallel to the longitudinal axis C of the secondtote handling assembly 104. Moving the tote 106 b in this way may movethe tote 106 b toward the operator station 110 proximate the end 114 ofthe second tote handling assembly 104.

As noted above, example systems 100 of the present disclosure include afirst tote handling assembly 102 and a second tote handling assembly 104located substantially adjacent to and substantially parallel to thefirst tote handling assembly 102. The tote handling assemblies 102, 104of the present disclosure may include a wiper bar 200, and one or moreactuators 202 connected to and moveable with the wiper bar 200.Additionally, a respective tab 204 may be connected to each actuator202, and each actuator 202 may be configured to move the correspondingtab 204 in a vertical direction to engage a tote disposed on therespective tote handling assembly. The wiper bar 200 may be moveablealong a transverse axis of the tote handling assembly, or in a directionthat is substantially parallel to the transverse axis, such thatmovement of the wiper bar 200 while a tab 204 is engaged with a tote 106may transfer the tote 106 from the first tote handling assembly 102 tothe second tote handling assembly 104.

Since the tote handling assemblies 102, 104 of the present disclosureuse servo motors, solenoids, and/or other like actuators to drive motionof, for example, the wiper bar 200, the tabs 204, and/or other totehandling assembly components described herein, the overall cost of suchtote handling assemblies may be significantly less than the cost ofknown material handling systems employing right-angle transfer devicesor other complex components. Additionally, the various componentsincluded in the example systems 100 of the present disclosure may reducethe time and complexity associated with manufacturing and/or assemblingsuch systems 100 relative to known material handling systems.

Accordingly, the example systems and methods of the present disclosureoffer unique and heretofore unworkable approaches to handling totes inorder fulfillment environments. Such systems and methods reduce thecosts associated with order fulfillment and improve operator efficiency.

CONCLUSION

Although the techniques have been described in language specific tostructural features and/or methodological acts, it is to be understoodthat the appended claims are not necessarily limited to the features oracts described. Rather, the features and acts are described as exampleimplementations of such techniques.

Alternate implementations are included within the scope of the examplesdescribed herein in which elements or functions may be deleted, orexecuted out of order from that shown or discussed, includingsubstantially synchronously or in reverse order, depending on thefunctionality involved as would be understood by those skilled in theart. It should be emphasized that many variations and modifications maybe made to the above-described examples, the elements of which are to beunderstood as being among other acceptable examples. All suchmodifications and variations are intended to be included herein withinthe scope of this disclosure and protected by the following claims.

The invention claimed is:
 1. A system, comprising: a wiper bar that iselongate along a first axis, the wiper bar being moveable along a secondaxis, the second axis being perpendicular to the first axis, a pluralityof actuators coupled to and moveable with the wiper bar, and a pluralityof tabs, each tab of the plurality of tabs coupled to a respectiveactuator of the plurality of actuators, a first actuator of the firstplurality of actuators configured to move a first tab of the firstplurality of tabs in a direction away from a plane defined by the firstaxis and the second axis, and a second actuator of the first pluralityof actuators configured to move a second tab of the first plurality oftabs in the direction, the second actuator being configured to move thesecond tab independent from movement of the first tab.
 2. The system ofclaim 1, further comprising a plurality of rollers configured to supportan item as it travels along the first axis.
 3. The system of claim 1,wherein the wiper bar is a first wiper bar, the plurality of actuatorsis a first plurality of actuators, and the plurality of tabs is a firstplurality of tabs, and the first wiper bar, the first plurality ofactuators, and the first plurality of tabs comprise a first assembly,the system further comprising: a second assembly disposed proximate tothe first assembly, the second assembly including a second wiper barthat is elongate along a third axis, the second wiper bar being moveablealong a fourth axis, the fourth axis being perpendicular to the thirdaxis, a second plurality of actuators coupled to and moveable with thesecond wiper bar, and a second plurality of tabs, each tab of the secondplurality of tabs coupled to a respective actuator of the secondplurality of actuators, the first wiper bar configured to transfer anitem from the first assembly to the second assembly, and the secondwiper bar configured to transfer the item from the second assembly tothe first assembly.
 4. The system of claim 3, wherein the item isdisposed in a container and the system further comprises a thirdassembly configured to direct the container to a location proximate atleast one of the first assembly and the second assembly.
 5. The systemof claim 1, further comprising: a controller; and at least one of animaging device and a sensor coupled to the controller, the at least oneof the imaging device and the sensor configured to direct a signal tothe controller, and the controller configured to determine anorientation of an item relative to at least one of the first axis andthe second axis based at least in part on the signal.
 6. An assembly,comprising: a wiper bar that is elongate along a first axis, the wiperbar being moveable along a second axis, the second axis beingperpendicular to the first axis; a plurality of rollers, the pluralityof rollers being configured to support an item as the item travels alongthe first axis; an actuator coupled to and moveable with the wiper bar;and a tab coupled to the actuator, the actuator configured to move thetab in a direction away from a plane defined by the first axis and thesecond axis, wherein the wiper bar, the plurality of rollers, theactuator, and the tab are configured to selectively move the item on atleast one roller of the plurality of rollers in a direction that isparallel to the second axis.
 7. The assembly of claim 6, wherein theactuator is a first actuator, the direction is a first direction, andthe assembly further comprises a second actuator, the second actuatorbeing operatively coupled to at least one roller of the plurality ofrollers and configured to selectively rotate the at least one roller ofthe plurality of rollers such that rotation of the at least one rollerwhile the item is supported by the at least one roller causes the itemto move in a second direction that is parallel to the first axis.
 8. Theassembly of claim 6, further comprising: a frame; and a guide rodcoupled to the frame, the guide rod being elongate along an axis that isparallel to the second axis, the wiper bar movably coupled to the guiderod.
 9. The assembly of claim 8, further comprising a motor operativelycoupled to the wiper bar and configured to move the wiper bar relativeto the guide rod along the second axis.
 10. The assembly of claim 9,further comprising a linkage coupling the motor to the wiper bar suchthat operation of the motor moves the linkage relative to the frame. 11.The assembly of claim 10, wherein the linkage is a first linkage, thefirst linkage is disposed at a first end of the frame, and the assemblyfurther comprises: a second linkage disposed at a second end of theframe, the second end of the frame being opposite the first end; and athird linkage coupling the first and second linkages, the wiper barfixedly coupled to the first and second linkages.
 12. The assembly ofclaim 9, wherein the motor is a first motor, the first motor is disposedat a first end of the frame, and the assembly further comprises a secondmotor coupled to the frame at a second end of the frame, the second endof the frame being opposite the first end, wherein the first motor andthe second motor are in combination operable to move the wiper bar alongthe second axis.
 13. The assembly of claim 6, wherein the at least oneroller of the plurality of rollers comprises a first roller spaced froma second roller by a gap, and the tab and the actuator are configuredsuch that the tab is capable of extending at least partly into the gap.14. The assembly of claim 6, wherein at least one of the actuator andthe tab is rotatable relative to the first axis.
 15. The assembly ofclaim 6, further comprising: a controller; and at least one of animaging device and a sensor coupled to the controller, the at least oneof the imaging device and the sensor configured to direct a signal tothe controller, and the controller configured to determine anorientation of the item based at least partly on the signal.
 16. Theassembly of claim 15, further comprising a display coupled to thecontroller, the display configured to provide first informationidentifying the item and second information indicative of theorientation.
 17. The assembly of claim 6, wherein the plurality ofrollers is disposed between the wiper bar and the item when the item issupported by the roller.
 18. A method of moving an item using aplurality of rollers, a wiper bar that is elongate along a first axisand moveable along a second axis, the second axis being perpendicular tothe first axis, an actuator coupled to and moveable with the wiper bar,and a tab coupled to the actuator, the method comprising: moving the tabin a first direction using the actuator, the first direction being awayfrom a plane defined by the first axis and the second axis; engaging theitem with the tab, the item being disposed on the plurality of rollers;and moving the wiper bar along the second axis during the engaging step.19. The method of claim 18, wherein the plurality of rollers is a firstplurality of rollers, the tab is a first tab, the actuator is a firstactuator, the wiper bar is a first wiper bar and the method uses asecond plurality of rollers, a second wiper bar that is elongate along athird axis and moveable along a fourth axis, the fourth axis beingperpendicular to the third axis, a second actuator coupled to andmoveable with the second wiper bar, and a second tab coupled to thesecond actuator, the method further comprising: moving the second tab ofthe second assembly in the first direction using the second actuator;engaging the item with the second tab, the item being disposed on thesecond plurality of rollers; moving the second wiper bar along thefourth axis during the step of engaging the item with the second tab;and transferring the item from the second plurality of rollers to thefirst plurality of rollers.
 20. The method of claim 18, furthercomprising: determining an orientation of the item relative to at leastone of the first axis and the third axis; determining, using acontroller, that the orientation is outside of an orientation threshold;and generating an indication, using the controller, that the orientationis outside of the orientation threshold.